EP0877488A1 - Procédé pour mesurer l'angle de rotation d'un arbre rotatif, en particulier d'un commutateur rotatif, et dispositif pour la mise en oeuvre du procédé - Google Patents

Procédé pour mesurer l'angle de rotation d'un arbre rotatif, en particulier d'un commutateur rotatif, et dispositif pour la mise en oeuvre du procédé Download PDF

Info

Publication number
EP0877488A1
EP0877488A1 EP98106206A EP98106206A EP0877488A1 EP 0877488 A1 EP0877488 A1 EP 0877488A1 EP 98106206 A EP98106206 A EP 98106206A EP 98106206 A EP98106206 A EP 98106206A EP 0877488 A1 EP0877488 A1 EP 0877488A1
Authority
EP
European Patent Office
Prior art keywords
angle
value
quadrant
curve
values
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP98106206A
Other languages
German (de)
English (en)
Other versions
EP0877488B1 (fr
Inventor
Wolfgang Jäger
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Siemens AG
Original Assignee
Mannesmann VDO AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mannesmann VDO AG filed Critical Mannesmann VDO AG
Publication of EP0877488A1 publication Critical patent/EP0877488A1/fr
Application granted granted Critical
Publication of EP0877488B1 publication Critical patent/EP0877488B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Images

Classifications

    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03M—CODING; DECODING; CODE CONVERSION IN GENERAL
    • H03M1/00—Analogue/digital conversion; Digital/analogue conversion
    • H03M1/12—Analogue/digital converters
    • H03M1/22—Analogue/digital converters pattern-reading type
    • H03M1/24—Analogue/digital converters pattern-reading type using relatively movable reader and disc or strip
    • H03M1/28—Analogue/digital converters pattern-reading type using relatively movable reader and disc or strip with non-weighted coding
    • H03M1/30—Analogue/digital converters pattern-reading type using relatively movable reader and disc or strip with non-weighted coding incremental
    • H03M1/303—Circuits or methods for processing the quadrature signals
    • H03M1/306—Circuits or methods for processing the quadrature signals for waveshaping
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
    • G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields

Definitions

  • the invention relates to a method for measuring the angle of rotation of a rotatable shaft, in which two sinusoidal, phase-shifted signals are generated and the angle of rotation is inferred from the measured values of the signals, the sinusoidal signals being normalized before the first measurement and a device for Execution of the procedure.
  • the sinusoidal signals are subject to fluctuations in the amplitude which are caused, for example, by aging or by the temperature response of the components used. For this reason, in known methods, which infer the measured angle of rotation from the measured values via arc sine and arc cosine functions, the normalization is also repeated during the ongoing measurements. This is done, for example, by measuring an extreme value for one signal when a zero crossing is determined for the other signal.
  • the object of the invention is to provide a method and an apparatus for executing the method, which only require simple calculations. This object is achieved in that the signals which are larger than the normalized maximum or smaller than the normalized minimum value are limited to the maximum or minimum value. Furthermore, the quadrant in which the sought angle is located is determined from the value of the two measured signals. Depending on the sign of the respective curve slope, the sign of the measured signal value is changed or maintained.
  • the sign of the associated signal value can be retained if the respective curve has a positive slope and the sign of the signal value can be changed if the respective curve has a negative slope, or the sign of the respective signal values can be changed if the respective curve has a positive slope and if the respective curve has a negative slope, the sign of the signal value is retained (second alternative).
  • the signal values obtained in this way are added together and a first sum S is obtained.
  • This method has the advantage of being based on normalizations during measurements can be dispensed with.
  • the difference angle ⁇ can also be read graphically on a third curve. If that with a negative slope of the respective sinusoidal curve
  • the third curve shows the sign of the measured value at the beginning of each quadrant half the negative value of the amplitude difference between the normalized maximum and minimum amplitude, in which In the middle of the quadrant the value 0 and at the end of the respective quadrant half the positive value of the amplitude difference between the normalized Maximum and minimum amplitude. Is the curve within a quadrant each straight, the read values agree with the Equation 1 obtained. It is more complex, but more precise third curve, if you sum the sum of the values for a number of angles assigns respective sine and cosine values to their respective angles The sign of a falling signal curve was changed.
  • a fourth curve ranging from 0 to four times the amplitude difference AD extends between the normalized maximum and minimum amplitude, assigns a certain angle to each angle within the four quadrants Value too, so that with the determined value the angle in the fourth curve can be read. To do this, you must add the calculated first sum of the two measured values in each quadrant each as many values of the Amplitude difference AD can be added as needed to the third curve of its position between the negative half of the amplitude difference AD and half the value of the amplitude difference AD in each quadrant to the corresponding position in the respective quadrant to postpone.
  • a device for performing the method has a device that generates a sinusoidal signal by rotation and which is connected to the shaft whose angle of rotation is to be determined, especially a rotatable switch. Furthermore, the device has two Sensors arranged at the same distance from the axis of rotation of the shaft are that they detect the signal emitted by the device can, the sensors being arranged so that those picked up by them Signals are phase-shifted by 90 °. Finally, the Device an evaluation device based on the recorded signals calculated the angle using the method according to the invention.
  • the Device that generates a sinusoidal signal advantageously exists from a magnet that is rotatably mounted around its perpendicular bisector.
  • the Sensors are then advantageously designed as Hall sensors or coils. A particularly simple circuit structure can be used realized by self-adjusting Hall sensors.
  • FIG. 1 shows a rotatable switch in which a shaft W with a diametrically magnetized disk M is rotatably mounted via a handle H.
  • the diametrically magnetized disc M generates voltages in the Hall sensors SE, from whose values the angle of rotation of the shaft W can be calculated using the method according to the invention.
  • Two coils SP1, SP2 are arranged so that they generate a torque when the current is applied to them in cooperation with the diametrically magnetized disc M, which the operator of the switch can perceive via the handle H.
  • FIG. 2 shows the voltages that two Hall sensors deliver, for example, during a rotation of a diametrically magnetized disc by 360 °, the is connected to the shaft whose angle of rotation is to be determined.
  • This Tensions are increased and offset. This happens advantageously already in those available today Hall sensors.
  • the Hall sensors advantageously have a compensation circuit, minimize the fluctuations of the offset voltage OF.
  • the signals are advantageously digitized using an A / D converter and in an evaluation unit, which consists of a microcontroller or microprocessor can exist, edited.
  • the amplitude of the normalized voltage is advantageously used the minimum occurring amplitude of the signals for sine 90 ° or cosine 0 °.
  • the resulting advantages will be explained later in particular of Figure 8 are explained in more detail.
  • FIG. 4 shows the changes in the signs of the values WA, WB of the sine curve A and the cosine curve B in the four quadrants I to IV.
  • the sine curve A has a negative slope in the second and third quadrants II, III.
  • the sign of a measured function value WA is therefore changed in these quadrants.
  • the cosine curve B has a negative slope in the first and second quadrants I, II, therefore a sign of a measured function value WB is changed in the first and second quadrants I, II.
  • the first sum is formed from the sum of the adapted function values WAV, WBV of the respective function values WA, WB, which are measured at an angle ⁇ to be determined.
  • the first sum corresponds to the angle difference ⁇ between the center of the respective quadrant (45 °, 135 °, 225 °, 315 °) and the measured angle ⁇ , the value of the amplitude difference AD between the standardized maximum amplitude (+1) and the standardized minimum amplitude (-1) corresponds to a value of 90 °.
  • the angle ⁇ which is between 0 ° and the center of the quadrant, in which the searched angle ⁇ is to be added to the angle ⁇ .
  • the third curve K is also shown in FIG.
  • the curve K begins at -1 at the beginning of each quadrant, has in the middle of each quadrant the value 0 and increases to the end of the respective quadrant the value 1.
  • the third curve K is either between the beginning and the End of a quadrant is a distance, or else it is divided by the sum receive the respective sine and cosine values of the corresponding angles, the signs of the respective function values WA, WB then changed if the respective function has a negative slope.
  • the fourth curve K 4 shown in FIG. 5 is obtained, those from 0 at the beginning of the first quadrant to 8 (four times the value of the Amplitude difference AD between the normalized maximum (plus 1) and minimum (-1) amplitude) is sufficient.
  • the error F 1 is still in Degree shown, which arises from that for the determination of the sought Angle ⁇ , equation 1 is used instead of reading the Angle on a third curve K, by adding the angles corresponding to the Sine and cosine values, whose signs have been adjusted accordingly was received.
  • system-related error F1 of up to +/- 2 ° compared to the actual one Angle when the measured sine and cosine curves match the normalized Values.
  • FIG. 6 shows the curves of two sinusoidal signals A1, B1 after normalization, the amplitude of which before the limitation had 1.2 times the value of the normalized signal, as shown by the dotted curve pieces A 0 B 0 .
  • FIG. 7 shows the two signals A1, B1 from FIG. 6 and the curve K6, which is obtained by adding for the curves A1, B1 with an adapted sign and providing an offset in each quadrant such that the curve is continuous is.
  • the offset has the following values: In the first quadrant +0.5 AD In the second quadrant +1.5 AD In the third quadrant +2.5 AD In the fourth quadrant +3.5 AD.
  • a diametrically magnetized disc M is shown, which with the Rotary shaft W is connected.
  • Two sensors SE are at the same radial distance from the rotary shaft W and the disc M offset by 90 °.
  • the rotation creates sinusoidal signals between the Hall sensors SE are 90 ° out of phase.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • Theoretical Computer Science (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
EP98106206A 1997-05-09 1998-04-04 Procédé pour mesurer l'angle de rotation d'un arbre rotatif, en particulier d'un commutateur rotatif, et dispositif pour la mise en oeuvre du procédé Expired - Lifetime EP0877488B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19719564A DE19719564A1 (de) 1997-05-09 1997-05-09 Verfahren zum Messen des Drehwinkels einer drehbaren Welle, insbesondere eines drehbaren Schalters und Vorrichtung zur Ausführung des Verfahrens
DE19719564 1997-05-09

Publications (2)

Publication Number Publication Date
EP0877488A1 true EP0877488A1 (fr) 1998-11-11
EP0877488B1 EP0877488B1 (fr) 2002-09-04

Family

ID=7829068

Family Applications (1)

Application Number Title Priority Date Filing Date
EP98106206A Expired - Lifetime EP0877488B1 (fr) 1997-05-09 1998-04-04 Procédé pour mesurer l'angle de rotation d'un arbre rotatif, en particulier d'un commutateur rotatif, et dispositif pour la mise en oeuvre du procédé

Country Status (3)

Country Link
US (1) US6087829A (fr)
EP (1) EP0877488B1 (fr)
DE (2) DE19719564A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2392249A (en) * 2000-01-27 2004-02-25 Goodrich Avionics Systems Inc Encoder apparatus and controller
EP1061342A3 (fr) * 1999-06-15 2005-08-17 Hella KGaA Hueck & Co. Capteur de position pour un véhicule
WO2013127962A1 (fr) * 2012-02-29 2013-09-06 Zentrum Mikroelektronik Dresden Ag Dispositif et procédé pour la détermination de position absolue redondante d'un corps mobile

Families Citing this family (22)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001174289A (ja) * 1999-12-17 2001-06-29 Alps Electric Co Ltd 回転角検出装置
US6556005B1 (en) * 2000-01-27 2003-04-29 Goodrich Avionics Systems, Inc. Magnetic encoder apparatus capable of resolving axial and rotational displacements
US6566860B1 (en) * 2000-09-14 2003-05-20 Delphi Technologies, Inc. Method for temperature compensation for the output of an angular position sensor
DE10114258A1 (de) * 2001-03-22 2002-09-26 Ivo Gmbh & Co Winkelmessvorrichtung zur Erfassung der genauen absoluten Position einer Geberwelle
DE10224288A1 (de) * 2002-05-31 2003-12-11 Zf Lenksysteme Gmbh Vorrichtung zur Messung eines Drehwinkels
US20040040800A1 (en) * 2002-07-31 2004-03-04 George Anastas System and method for providing passive haptic feedback
DE10301848B4 (de) 2003-01-09 2014-10-09 Anton Rodi Messeinrichtung zur Erfassung von Größen, insbesondere von Winkeln oder Wegstrecken
EP1631893A2 (fr) * 2003-05-30 2006-03-08 Immersion Corporation Systeme et procede de retroaction haptique faible puissance
US7522152B2 (en) * 2004-05-27 2009-04-21 Immersion Corporation Products and processes for providing haptic feedback in resistive interface devices
US7198137B2 (en) * 2004-07-29 2007-04-03 Immersion Corporation Systems and methods for providing haptic feedback with position sensing
US8441433B2 (en) * 2004-08-11 2013-05-14 Immersion Corporation Systems and methods for providing friction in a haptic feedback device
US9495009B2 (en) * 2004-08-20 2016-11-15 Immersion Corporation Systems and methods for providing haptic effects
US8013847B2 (en) * 2004-08-24 2011-09-06 Immersion Corporation Magnetic actuator for providing haptic feedback
US8803796B2 (en) 2004-08-26 2014-08-12 Immersion Corporation Products and processes for providing haptic feedback in a user interface
US20060049010A1 (en) * 2004-09-03 2006-03-09 Olien Neil T Device and method for providing resistive and vibrotactile effects
US8002089B2 (en) * 2004-09-10 2011-08-23 Immersion Corporation Systems and methods for providing a haptic device
US9046922B2 (en) * 2004-09-20 2015-06-02 Immersion Corporation Products and processes for providing multimodal feedback in a user interface device
US7764268B2 (en) * 2004-09-24 2010-07-27 Immersion Corporation Systems and methods for providing a haptic device
DE102006032280B4 (de) * 2006-07-11 2014-09-04 Fernsteuergeräte Kurt Oelsch GmbH Neigungsaufnehmer
DE112007003466B4 (de) * 2007-04-24 2014-12-11 Harmonic Drive Systems Inc. Verfahren des Erfassens einer absoluten Rotationsposition
US8390240B2 (en) 2007-08-06 2013-03-05 GM Global Technology Operations LLC Absolute position sensor for field-oriented control of an induction motor
US8179127B2 (en) * 2007-11-06 2012-05-15 GM Global Technology Operations LLC Method and apparatus to monitor position of a rotatable shaft

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2221876A1 (en) * 1973-03-15 1974-10-11 Dassault Electronique Digital coder divides angles sine - by sum or difference of angular sine and cosine

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2515891B2 (ja) * 1989-09-20 1996-07-10 株式会社日立製作所 角度センサ及びトルクセンサ、そのセンサの出力に応じて制御される電動パワ―ステアリング装置
DE4422868C2 (de) * 1994-06-30 1997-08-21 Itt Ind Gmbh Deutsche Vorrichtung zum Bestimmen eines Drehwinkels eines Magneten
DE4436724C2 (de) * 1994-10-14 1997-07-10 Daimler Benz Aerospace Ag Elektronischer Positionsgeber
DE4440214C2 (de) * 1994-11-10 1997-08-14 Itt Ind Gmbh Deutsche Drehgeber mit Hallsensoren
DE19539134C2 (de) * 1995-10-20 2001-05-23 Ruf Electronics Gmbh Auswerteverfahren für berührungslos messende Weg-/Winkelaufnehmer mit sinusförmigen Spursignalen
US5811968A (en) * 1996-01-06 1998-09-22 Unisia Jecs Corporation Rotation angle sensor
DE19709426C2 (de) * 1996-03-08 2000-06-08 Unisia Jecs Corp Zum Erfassen einer Winkelverschiebung und einer Richtung einer Ventilachse angeordneter Sensor

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2221876A1 (en) * 1973-03-15 1974-10-11 Dassault Electronique Digital coder divides angles sine - by sum or difference of angular sine and cosine

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1061342A3 (fr) * 1999-06-15 2005-08-17 Hella KGaA Hueck & Co. Capteur de position pour un véhicule
GB2392249A (en) * 2000-01-27 2004-02-25 Goodrich Avionics Systems Inc Encoder apparatus and controller
GB2392249B (en) * 2000-01-27 2004-05-26 Goodrich Avionics Systems Inc Encoder apparatus and controllers
WO2013127962A1 (fr) * 2012-02-29 2013-09-06 Zentrum Mikroelektronik Dresden Ag Dispositif et procédé pour la détermination de position absolue redondante d'un corps mobile
US10132649B2 (en) 2012-02-29 2018-11-20 Idt Europe Gmbh Apparatus and method for the redundant, absolute position determination of a movable body

Also Published As

Publication number Publication date
DE59805372D1 (de) 2002-10-10
US6087829A (en) 2000-07-11
EP0877488B1 (fr) 2002-09-04
DE19719564A1 (de) 1998-11-12

Similar Documents

Publication Publication Date Title
EP0877488B1 (fr) Procédé pour mesurer l'angle de rotation d'un arbre rotatif, en particulier d'un commutateur rotatif, et dispositif pour la mise en oeuvre du procédé
EP0334854B1 (fr) Dispositif de mesure d'une rotation angulaire et ou d'une vitesse de rotation
DE10048911C1 (de) Verfahren und Vorrichtung zur Bestimmung der Absolutposition bei Weg- und Winkelgebern
DE3844580C2 (fr)
EP1313999B1 (fr) Procede et dispositif de mesure d'angles
DE4029828C2 (de) Vorrichtung zur Erfassung des Drehwinkels einer rotierenden Welle sowie damit ausgerüstete Drehmomenterfassungsvorrichtung und Servolenkvorrichtung
DE19548385C2 (de) Verfahren zur Ermittlung der Winkelposition einer Drehachse eines Gegenstandes durch einen Rechner
DE68917191T2 (de) Gerät zur Drehmomentdetektion mit Fehlersignal.
WO2009068695A1 (fr) Arrangement de détection de l'angle de direction à mesure absolue
DE4142058A1 (de) Verfahren und vorrichtung zum erfassen einer steuerinformation
DE3307931A1 (de) Digitales elektrisches laengen- oder winkelmesssystem
DE102011055717B4 (de) Verfahren und Anordnung zur Bestimmung des dynamischen Zustands eines Elektromotors
DE19851942A1 (de) Drehzahl-, Richtungs- und Beschleunigungssensor für eine rotierende Welle
EP0684480B1 (fr) Procédé et dispositif de mesure de la vitesse de rotation
DE3509763C2 (fr)
DE19910411C2 (de) Verfahren und Vorrichtung zur Offset-kompensierten Magnetfeldmessung mittels eines Hallsensors
DE69009619T2 (de) Vorrichtung zur Messung vom Effektivwert eines Signales, insbesondere zur Messung des Stromes in einem statischen Auslöser.
DE10004080C1 (de) Sensorvorrichtung und Verfahren zur Erzeugung eines Ausgangssignals einer Sensorvorrichtung
DE4435678A1 (de) Magnetfeldsensor
EP0122487B1 (fr) Appareil pour contrôler la surface de pièces métalliques
DE10337956B4 (de) Verfahren zur Ermittlung der Winkelposition eines Stellmotors in einem Überlagerungs-Lenksystem eines Kraftfahrzeugs
DE102010027166A1 (de) Positionsmessvorrichtung und Verfahren zur Positionsmessung mittels Hall-Sensoren
DE102004043402A1 (de) Verfahren zum Positionieren eines linear beweglichen Gegenstandes und Positioniervorrichtung
EP1455164A1 (fr) Méthode de détermination d'un angle
DE4215812A1 (de) Verfahren und Vorrichtung zur Motorregelung mittels Hall-Sensor

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): DE FR GB

AX Request for extension of the european patent

Free format text: AL;LT;LV;MK;RO;SI

17P Request for examination filed

Effective date: 19981002

AKX Designation fees paid

Free format text: DE FR GB

17Q First examination report despatched

Effective date: 20001030

GRAG Despatch of communication of intention to grant

Free format text: ORIGINAL CODE: EPIDOS AGRA

RAP1 Party data changed (applicant data changed or rights of an application transferred)

Owner name: SIEMENS AKTIENGESELLSCHAFT

GRAG Despatch of communication of intention to grant

Free format text: ORIGINAL CODE: EPIDOS AGRA

GRAH Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOS IGRA

GRAG Despatch of communication of intention to grant

Free format text: ORIGINAL CODE: EPIDOS AGRA

GRAH Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOS IGRA

GRAH Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOS IGRA

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): DE FR GB

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REF Corresponds to:

Ref document number: 59805372

Country of ref document: DE

Date of ref document: 20021010

GBT Gb: translation of ep patent filed (gb section 77(6)(a)/1977)

Effective date: 20021217

ET Fr: translation filed
PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed

Effective date: 20030605

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20090414

Year of fee payment: 12

Ref country code: DE

Payment date: 20090422

Year of fee payment: 12

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: GB

Payment date: 20090421

Year of fee payment: 12

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20100404

REG Reference to a national code

Ref country code: FR

Ref legal event code: ST

Effective date: 20101230

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20101103

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20100404

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20100430